-Performance increase, bug fixes

-Fixed a bug in matrix *= overload
-Performance increase for Kalman filter
-Performance increase by returning reference in many getter (a large
increase, from 17 to 25 fps)
-Added passable arguments to main, so no recompile is needed for several
datasets
-Tuned Kalman parameters
-Added point cloud export function to output module
-Added disparity module and seperated it from tracking module. So any
point cloud can be used, and many tracking targets can be tracked (<1ms
per target).
-Changed drawing functions according to the disparity module change